481 lines
17 KiB
C++
481 lines
17 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file testWrap.cpp
|
|
* @brief Unit test for wrap.c
|
|
* @author Frank Dellaert
|
|
**/
|
|
|
|
#include <wrap/utilities.h>
|
|
#include <wrap/Module.h>
|
|
|
|
#include <CppUnitLite/TestHarness.h>
|
|
|
|
#include <boost/assign/std/vector.hpp>
|
|
#include <boost/filesystem.hpp>
|
|
|
|
#include <stdlib.h>
|
|
#include <iostream>
|
|
#include <fstream>
|
|
#include <sstream>
|
|
|
|
using namespace std;
|
|
using namespace boost::assign;
|
|
using namespace wrap;
|
|
namespace fs = boost::filesystem;
|
|
static bool enable_verbose = false;
|
|
#ifdef TOPSRCDIR
|
|
static string topdir = TOPSRCDIR;
|
|
#else
|
|
static string topdir = "TOPSRCDIR_NOT_CONFIGURED"; // If TOPSRCDIR is not defined, we error
|
|
#endif
|
|
|
|
typedef vector<string> strvec;
|
|
|
|
/* ************************************************************************* */
|
|
TEST( wrap, ArgumentList ) {
|
|
ArgumentList args;
|
|
Argument arg1; arg1.type.name_ = "double"; arg1.name = "x";
|
|
Argument arg2; arg2.type.name_ = "double"; arg2.name = "y";
|
|
Argument arg3; arg3.type.name_ = "double"; arg3.name = "z";
|
|
args.push_back(arg1);
|
|
args.push_back(arg2);
|
|
args.push_back(arg3);
|
|
EXPECT(assert_equal("ddd", args.signature()));
|
|
EXPECT(assert_equal("double,double,double", args.types()));
|
|
EXPECT(assert_equal("x,y,z", args.names()));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( wrap, check_exception ) {
|
|
THROWS_EXCEPTION(Module("/notarealpath", "geometry",enable_verbose));
|
|
CHECK_EXCEPTION(Module("/alsonotarealpath", "geometry",enable_verbose), CantOpenFile);
|
|
|
|
// // TODO: matlab_code does not throw this anymore, so check constructor
|
|
// fs::remove_all("actual_deps"); // clean out previous generated code
|
|
// string path = topdir + "/wrap/tests";
|
|
// Module module(path.c_str(), "testDependencies",enable_verbose);
|
|
// CHECK_EXCEPTION(module.matlab_code("actual_deps"), DependencyMissing);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( wrap, Small ) {
|
|
string moduleName("gtsam");
|
|
Module module(moduleName, true);
|
|
|
|
string markup(
|
|
string("class Point2 { \n") +
|
|
string(" double x() const; \n") + // Method 1
|
|
string(" Matrix returnMatrix() const; \n") + // Method 2
|
|
string(" Point2 returnPoint2() const; \n") + // Method 3
|
|
string(" static Vector returnVector(); \n") + // Static Method 1
|
|
string("};\n"));
|
|
module.parseMarkup(markup);
|
|
|
|
// check return types
|
|
LONGS_EQUAL(1, module.classes.size());
|
|
Class cls = module.classes.front();
|
|
EXPECT(assert_equal("Point2", cls.name()));
|
|
EXPECT(!cls.isVirtual);
|
|
EXPECT(cls.namespaces().empty());
|
|
LONGS_EQUAL(3, cls.nrMethods());
|
|
LONGS_EQUAL(1, cls.static_methods.size());
|
|
|
|
// Method 1
|
|
Method m1 = cls.method("x");
|
|
EXPECT(assert_equal("x", m1.name()));
|
|
EXPECT(m1.isConst());
|
|
LONGS_EQUAL(1, m1.nrOverloads());
|
|
|
|
ReturnValue rv1 = m1.returnValue(0);
|
|
EXPECT(!rv1.isPair);
|
|
EXPECT(!rv1.type1.isPtr);
|
|
EXPECT(assert_equal("double", rv1.type1.name()));
|
|
EXPECT_LONGS_EQUAL(ReturnType::BASIS, rv1.type1.category);
|
|
|
|
// Method 2
|
|
Method m2 = cls.method("returnMatrix");
|
|
EXPECT(assert_equal("returnMatrix", m2.name()));
|
|
EXPECT(m2.isConst());
|
|
LONGS_EQUAL(1, m2.nrOverloads());
|
|
|
|
ReturnValue rv2 = m2.returnValue(0);
|
|
EXPECT(!rv2.isPair);
|
|
EXPECT(!rv2.type1.isPtr);
|
|
EXPECT(assert_equal("Matrix", rv2.type1.name()));
|
|
EXPECT_LONGS_EQUAL(ReturnType::EIGEN, rv2.type1.category);
|
|
|
|
// Method 3
|
|
Method m3 = cls.method("returnPoint2");
|
|
EXPECT(assert_equal("returnPoint2", m3.name()));
|
|
EXPECT(m3.isConst());
|
|
LONGS_EQUAL(1, m3.nrOverloads());
|
|
|
|
ReturnValue rv3 = m3.returnValue(0);
|
|
EXPECT(!rv3.isPair);
|
|
EXPECT(!rv3.type1.isPtr);
|
|
EXPECT(assert_equal("Point2", rv3.type1.name()));
|
|
EXPECT_LONGS_EQUAL(ReturnType::CLASS, rv3.type1.category);
|
|
|
|
// Static Method 1
|
|
// static Vector returnVector();
|
|
StaticMethod sm1 = cls.static_methods.at("returnVector");
|
|
EXPECT(assert_equal("returnVector", sm1.name()));
|
|
LONGS_EQUAL(1, sm1.nrOverloads());
|
|
|
|
ReturnValue rv4 = sm1.returnValue(0);
|
|
EXPECT(!rv4.isPair);
|
|
EXPECT(!rv4.type1.isPtr);
|
|
EXPECT(assert_equal("Vector", rv4.type1.name()));
|
|
EXPECT_LONGS_EQUAL(ReturnType::EIGEN, rv4.type1.category);
|
|
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( wrap, Geometry ) {
|
|
string markup_header_path = topdir + "/wrap/tests";
|
|
Module module(markup_header_path.c_str(), "geometry",enable_verbose);
|
|
EXPECT_LONGS_EQUAL(7, module.classes.size());
|
|
|
|
// forward declarations
|
|
LONGS_EQUAL(2, module.forward_declarations.size());
|
|
EXPECT(assert_equal("VectorNotEigen", module.forward_declarations[0].name));
|
|
EXPECT(assert_equal("ns::OtherClass", module.forward_declarations[1].name));
|
|
|
|
// includes
|
|
strvec exp_includes; exp_includes += "folder/path/to/Test.h";
|
|
EXPECT(assert_equal(exp_includes, module.includes));
|
|
|
|
LONGS_EQUAL(7, module.classes.size());
|
|
|
|
// Key for ReturnType::return_category
|
|
// CLASS = 1,
|
|
// EIGEN = 2,
|
|
// BASIS = 3,
|
|
// VOID = 4,
|
|
|
|
{
|
|
// check first class
|
|
// class Point2 {
|
|
// Point2();
|
|
// Point2(double x, double y);
|
|
// double x() const;
|
|
// double y() const;
|
|
// int dim() const;
|
|
// char returnChar() const;
|
|
// void argChar(char a) const;
|
|
// void argUChar(unsigned char a) const;
|
|
// VectorNotEigen vectorConfusion();
|
|
// };
|
|
|
|
Class cls = module.classes.at(0);
|
|
EXPECT(assert_equal("Point2", cls.name()));
|
|
EXPECT_LONGS_EQUAL(2, cls.constructor.nrOverloads());
|
|
EXPECT_LONGS_EQUAL(8, cls.nrMethods());
|
|
|
|
{
|
|
// char returnChar() const;
|
|
CHECK(cls.exists("returnChar"));
|
|
Method m1 = cls.method("returnChar");
|
|
LONGS_EQUAL(1, m1.nrOverloads());
|
|
EXPECT(assert_equal("char", m1.returnValue(0).type1.name()));
|
|
EXPECT_LONGS_EQUAL(ReturnType::BASIS, m1.returnValue(0).type1.category);
|
|
EXPECT(!m1.returnValue(0).isPair);
|
|
EXPECT(assert_equal("returnChar", m1.name()));
|
|
LONGS_EQUAL(1, m1.nrOverloads());
|
|
EXPECT_LONGS_EQUAL(0, m1.argumentList(0).size());
|
|
EXPECT(m1.isConst());
|
|
}
|
|
|
|
{
|
|
// VectorNotEigen vectorConfusion();
|
|
CHECK(cls.exists("vectorConfusion"));
|
|
Method m1 = cls.method("vectorConfusion");
|
|
LONGS_EQUAL(1, m1.nrOverloads());
|
|
EXPECT(assert_equal("VectorNotEigen", m1.returnValue(0).type1.name()));
|
|
EXPECT_LONGS_EQUAL(ReturnType::CLASS, m1.returnValue(0).type1.category);
|
|
EXPECT(!m1.returnValue(0).isPair);
|
|
EXPECT(assert_equal("vectorConfusion", m1.name()));
|
|
LONGS_EQUAL(1, m1.nrOverloads());
|
|
EXPECT_LONGS_EQUAL(0, m1.argumentList(0).size());
|
|
EXPECT(!m1.isConst());
|
|
}
|
|
|
|
EXPECT_LONGS_EQUAL(0, cls.static_methods.size());
|
|
EXPECT_LONGS_EQUAL(1, cls.namespaces().size());
|
|
|
|
#ifndef WRAP_DISABLE_SERIALIZE
|
|
// check serialization flag
|
|
EXPECT(cls.isSerializable);
|
|
EXPECT(!cls.hasSerialization);
|
|
#endif
|
|
}
|
|
|
|
// check second class, Point3
|
|
{
|
|
Class cls = module.classes.at(1);
|
|
EXPECT(assert_equal("Point3", cls.name()));
|
|
EXPECT_LONGS_EQUAL(1, cls.constructor.nrOverloads());
|
|
EXPECT_LONGS_EQUAL(1, cls.nrMethods());
|
|
EXPECT_LONGS_EQUAL(2, cls.static_methods.size());
|
|
EXPECT_LONGS_EQUAL(1, cls.namespaces().size());
|
|
|
|
// first constructor takes 3 doubles
|
|
ArgumentList c1 = cls.constructor.argumentList(0);
|
|
EXPECT_LONGS_EQUAL(3, c1.size());
|
|
|
|
// check first double argument
|
|
Argument a1 = c1.front();
|
|
EXPECT(!a1.is_const);
|
|
EXPECT(assert_equal("double", a1.type.name_));
|
|
EXPECT(!a1.is_ref);
|
|
EXPECT(assert_equal("x", a1.name));
|
|
|
|
// check method
|
|
CHECK(cls.exists("norm"));
|
|
Method m1 = cls.method("norm");
|
|
LONGS_EQUAL(1, m1.nrOverloads());
|
|
EXPECT(assert_equal("double", m1.returnValue(0).type1.name()));
|
|
EXPECT_LONGS_EQUAL(ReturnType::BASIS, m1.returnValue(0).type1.category);
|
|
EXPECT(assert_equal("norm", m1.name()));
|
|
LONGS_EQUAL(1, m1.nrOverloads());
|
|
EXPECT_LONGS_EQUAL(0, m1.argumentList(0).size());
|
|
EXPECT(m1.isConst());
|
|
|
|
#ifndef WRAP_DISABLE_SERIALIZE
|
|
// check serialization flag
|
|
EXPECT(cls.isSerializable);
|
|
EXPECT(cls.hasSerialization);
|
|
#endif
|
|
}
|
|
|
|
// Test class is the third one
|
|
{
|
|
Class testCls = module.classes.at(2);
|
|
EXPECT_LONGS_EQUAL( 2, testCls.constructor.nrOverloads());
|
|
EXPECT_LONGS_EQUAL(19, testCls.nrMethods());
|
|
EXPECT_LONGS_EQUAL( 0, testCls.static_methods.size());
|
|
EXPECT_LONGS_EQUAL( 0, testCls.namespaces().size());
|
|
|
|
// function to parse: pair<Vector,Matrix> return_pair (Vector v, Matrix A) const;
|
|
CHECK(testCls.exists("return_pair"));
|
|
Method m2 = testCls.method("return_pair");
|
|
LONGS_EQUAL(1, m2.nrOverloads());
|
|
EXPECT(m2.returnValue(0).isPair);
|
|
EXPECT_LONGS_EQUAL(ReturnType::EIGEN, m2.returnValue(0).type1.category);
|
|
EXPECT(assert_equal("Vector", m2.returnValue(0).type1.name()));
|
|
EXPECT_LONGS_EQUAL(ReturnType::EIGEN, m2.returnValue(0).type2.category);
|
|
EXPECT(assert_equal("Matrix", m2.returnValue(0).type2.name()));
|
|
|
|
// checking pointer args and return values
|
|
// pair<Test*,Test*> return_ptrs (Test* p1, Test* p2) const;
|
|
CHECK(testCls.exists("return_ptrs"));
|
|
Method m3 = testCls.method("return_ptrs");
|
|
LONGS_EQUAL(1, m3.nrOverloads());
|
|
ArgumentList args = m3.argumentList(0);
|
|
LONGS_EQUAL(2, args.size());
|
|
|
|
Argument arg1 = args.at(0);
|
|
EXPECT(arg1.is_ptr);
|
|
EXPECT(!arg1.is_const);
|
|
EXPECT(!arg1.is_ref);
|
|
EXPECT(assert_equal("Test", arg1.type.name_));
|
|
EXPECT(assert_equal("p1", arg1.name));
|
|
EXPECT(arg1.type.namespaces_.empty());
|
|
|
|
Argument arg2 = args.at(1);
|
|
EXPECT(arg2.is_ptr);
|
|
EXPECT(!arg2.is_const);
|
|
EXPECT(!arg2.is_ref);
|
|
EXPECT(assert_equal("Test", arg2.type.name_));
|
|
EXPECT(assert_equal("p2", arg2.name));
|
|
EXPECT(arg2.type.namespaces_.empty());
|
|
}
|
|
|
|
// evaluate global functions
|
|
// Vector aGlobalFunction();
|
|
LONGS_EQUAL(2, module.global_functions.size());
|
|
CHECK(module.global_functions.find("aGlobalFunction") != module.global_functions.end());
|
|
{
|
|
GlobalFunction gfunc = module.global_functions.at("aGlobalFunction");
|
|
EXPECT(assert_equal("aGlobalFunction", gfunc.name()));
|
|
LONGS_EQUAL(1, gfunc.nrOverloads());
|
|
EXPECT(assert_equal("Vector", gfunc.returnValue(0).type1.name()));
|
|
EXPECT_LONGS_EQUAL(1, gfunc.nrOverloads());
|
|
LONGS_EQUAL(1, gfunc.overloads.size());
|
|
EXPECT(gfunc.overloads.front().namespaces().empty());
|
|
}
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( wrap, parse_namespaces ) {
|
|
string header_path = topdir + "/wrap/tests";
|
|
Module module(header_path.c_str(), "testNamespaces",enable_verbose);
|
|
EXPECT_LONGS_EQUAL(6, module.classes.size());
|
|
|
|
{
|
|
strvec module_exp_includes;
|
|
module_exp_includes += "path/to/ns1.h";
|
|
module_exp_includes += "path/to/ns1/ClassB.h";
|
|
module_exp_includes += "path/to/ns2.h";
|
|
module_exp_includes += "path/to/ns2/ClassA.h";
|
|
module_exp_includes += "path/to/ns3.h";
|
|
EXPECT(assert_equal(module_exp_includes, module.includes));
|
|
}
|
|
|
|
{
|
|
Class cls = module.classes.at(0);
|
|
EXPECT(assert_equal("ClassA", cls.name()));
|
|
strvec exp_namespaces; exp_namespaces += "ns1";
|
|
EXPECT(assert_equal(exp_namespaces, cls.namespaces()));
|
|
}
|
|
|
|
{
|
|
Class cls = module.classes.at(1);
|
|
EXPECT(assert_equal("ClassB", cls.name()));
|
|
strvec exp_namespaces; exp_namespaces += "ns1";
|
|
EXPECT(assert_equal(exp_namespaces, cls.namespaces()));
|
|
}
|
|
|
|
{
|
|
Class cls = module.classes.at(2);
|
|
EXPECT(assert_equal("ClassA", cls.name()));
|
|
strvec exp_namespaces; exp_namespaces += "ns2";
|
|
EXPECT(assert_equal(exp_namespaces, cls.namespaces()));
|
|
}
|
|
|
|
{
|
|
Class cls = module.classes.at(3);
|
|
EXPECT(assert_equal("ClassB", cls.name()));
|
|
strvec exp_namespaces; exp_namespaces += "ns2", "ns3";
|
|
EXPECT(assert_equal(exp_namespaces, cls.namespaces()));
|
|
}
|
|
|
|
{
|
|
Class cls = module.classes.at(4);
|
|
EXPECT(assert_equal("ClassC", cls.name()));
|
|
strvec exp_namespaces; exp_namespaces += "ns2";
|
|
EXPECT(assert_equal(exp_namespaces, cls.namespaces()));
|
|
}
|
|
|
|
{
|
|
Class cls = module.classes.at(5);
|
|
EXPECT(assert_equal("ClassD", cls.name()));
|
|
strvec exp_namespaces;
|
|
EXPECT(assert_equal(exp_namespaces, cls.namespaces()));
|
|
}
|
|
|
|
// evaluate global functions
|
|
// Vector ns1::aGlobalFunction();
|
|
// Vector ns2::aGlobalFunction();
|
|
LONGS_EQUAL(2, module.global_functions.size());
|
|
CHECK(module.global_functions.find("aGlobalFunction") != module.global_functions.end());
|
|
{
|
|
GlobalFunction gfunc = module.global_functions.at("aGlobalFunction");
|
|
EXPECT(assert_equal("aGlobalFunction", gfunc.name()));
|
|
LONGS_EQUAL(2, gfunc.nrOverloads());
|
|
EXPECT(assert_equal("Vector", gfunc.returnValue(0).type1.name()));
|
|
|
|
// check namespaces
|
|
LONGS_EQUAL(2, gfunc.overloads.size());
|
|
strvec exp_namespaces1; exp_namespaces1 += "ns1";
|
|
EXPECT(assert_equal(exp_namespaces1, gfunc.overloads.at(0).namespaces()));
|
|
|
|
strvec exp_namespaces2; exp_namespaces2 += "ns2";
|
|
EXPECT(assert_equal(exp_namespaces2, gfunc.overloads.at(1).namespaces()));
|
|
}
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( wrap, matlab_code_namespaces ) {
|
|
string header_path = topdir + "/wrap/tests";
|
|
Module module(header_path.c_str(), "testNamespaces",enable_verbose);
|
|
EXPECT_LONGS_EQUAL(6, module.classes.size());
|
|
string path = topdir + "/wrap";
|
|
|
|
// clean out previous generated code
|
|
fs::remove_all("actual_namespaces");
|
|
|
|
// emit MATLAB code
|
|
string exp_path = path + "/tests/expected_namespaces/";
|
|
string act_path = "actual_namespaces/";
|
|
module.matlab_code("actual_namespaces");
|
|
|
|
|
|
EXPECT(files_equal(exp_path + "ClassD.m", act_path + "ClassD.m" ));
|
|
EXPECT(files_equal(exp_path + "+ns1/ClassA.m", act_path + "+ns1/ClassA.m" ));
|
|
EXPECT(files_equal(exp_path + "+ns1/ClassB.m", act_path + "+ns1/ClassB.m" ));
|
|
EXPECT(files_equal(exp_path + "+ns2/ClassA.m", act_path + "+ns2/ClassA.m" ));
|
|
EXPECT(files_equal(exp_path + "+ns2/ClassC.m", act_path + "+ns2/ClassC.m" ));
|
|
EXPECT(
|
|
files_equal(exp_path + "+ns2/overloadedGlobalFunction.m", exp_path + "+ns2/overloadedGlobalFunction.m" ));
|
|
EXPECT(
|
|
files_equal(exp_path + "+ns2/+ns3/ClassB.m", act_path + "+ns2/+ns3/ClassB.m" ));
|
|
EXPECT(
|
|
files_equal(exp_path + "testNamespaces_wrapper.cpp", act_path + "testNamespaces_wrapper.cpp" ));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( wrap, matlab_code_geometry ) {
|
|
// Parse into class object
|
|
string header_path = topdir + "/wrap/tests";
|
|
Module module(header_path,"geometry",enable_verbose);
|
|
string path = topdir + "/wrap";
|
|
|
|
// clean out previous generated code
|
|
fs::remove_all("actual");
|
|
|
|
// emit MATLAB code
|
|
// make_geometry will not compile, use make testwrap to generate real make
|
|
module.matlab_code("actual");
|
|
#ifndef WRAP_DISABLE_SERIALIZE
|
|
string epath = path + "/tests/expected/";
|
|
#else
|
|
string epath = path + "/tests/expected2/";
|
|
#endif
|
|
string apath = "actual/";
|
|
|
|
EXPECT(files_equal(epath + "geometry_wrapper.cpp" , apath + "geometry_wrapper.cpp" ));
|
|
EXPECT(files_equal(epath + "+gtsam/Point2.m" , apath + "+gtsam/Point2.m" ));
|
|
EXPECT(files_equal(epath + "+gtsam/Point3.m" , apath + "+gtsam/Point3.m" ));
|
|
EXPECT(files_equal(epath + "Test.m" , apath + "Test.m" ));
|
|
EXPECT(files_equal(epath + "MyBase.m" , apath + "MyBase.m" ));
|
|
EXPECT(files_equal(epath + "MyTemplatePoint2.m" , apath + "MyTemplatePoint2.m" ));
|
|
EXPECT(files_equal(epath + "MyTemplateMatrix.m" , apath + "MyTemplateMatrix.m" ));
|
|
EXPECT(files_equal(epath + "MyFactorPosePoint2.m" , apath + "MyFactorPosePoint2.m"));
|
|
EXPECT(files_equal(epath + "aGlobalFunction.m" , apath + "aGlobalFunction.m" ));
|
|
EXPECT(files_equal(epath + "overloadedGlobalFunction.m" , apath + "overloadedGlobalFunction.m" ));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( wrap, python_code_geometry ) {
|
|
// Parse into class object
|
|
string header_path = topdir + "/wrap/tests";
|
|
Module module(header_path,"geometry",enable_verbose);
|
|
string path = topdir + "/wrap";
|
|
|
|
// clean out previous generated code
|
|
fs::remove_all("actual-python");
|
|
|
|
// emit MATLAB code
|
|
// make_geometry will not compile, use make testwrap to generate real make
|
|
module.python_wrapper("actual-python");
|
|
string epath = path + "/tests/expected-python/";
|
|
string apath = "actual-python/";
|
|
|
|
EXPECT(files_equal(epath + "geometry_python.cpp", apath + "geometry_python.cpp" ));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
|
|
/* ************************************************************************* */
|